EP3449321A4 - Dispositif et procédé de commande de mouvement - Google Patents
Dispositif et procédé de commande de mouvement Download PDFInfo
- Publication number
- EP3449321A4 EP3449321A4 EP17790380.4A EP17790380A EP3449321A4 EP 3449321 A4 EP3449321 A4 EP 3449321A4 EP 17790380 A EP17790380 A EP 17790380A EP 3449321 A4 EP3449321 A4 EP 3449321A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- motion control
- motion
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
- G05B19/35—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control
- G05B19/351—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/358—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/353 - G05B19/356
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/06—Automatic controllers electric in which the output signal represents a continuous function of the deviation from the desired value, i.e. continuous controllers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
- G05B19/35—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control
- G05B19/351—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41206—Lookup table, memory with certain relationships
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41213—Lookup table for load, motor torque as function of actual position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41326—Step motor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42064—Position, speed and acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Artificial Intelligence (AREA)
- Control Of Stepping Motors (AREA)
- Control Of Velocity Or Acceleration (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662328547P | 2016-04-27 | 2016-04-27 | |
PCT/US2017/029715 WO2017189774A1 (fr) | 2016-04-27 | 2017-04-26 | Dispositif et procédé de commande de mouvement |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3449321A1 EP3449321A1 (fr) | 2019-03-06 |
EP3449321A4 true EP3449321A4 (fr) | 2019-05-22 |
Family
ID=60160032
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17790380.4A Withdrawn EP3449321A4 (fr) | 2016-04-27 | 2017-04-26 | Dispositif et procédé de commande de mouvement |
Country Status (5)
Country | Link |
---|---|
US (1) | US10488842B2 (fr) |
EP (1) | EP3449321A4 (fr) |
JP (1) | JP2019530030A (fr) |
KR (1) | KR20190051896A (fr) |
WO (1) | WO2017189774A1 (fr) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180333908A1 (en) * | 2017-05-19 | 2018-11-22 | Edward Earl Lewis | Machine for Detection of Filament Feed Error in 3D Printers |
CN109343467B (zh) * | 2018-11-02 | 2021-02-05 | 南京航空航天大学 | 一种非共振evc装置的椭圆轨迹误差控制系统 |
US10829114B2 (en) * | 2019-02-06 | 2020-11-10 | Ford Global Technologies, Llc | Vehicle target tracking |
GB2581522B (en) * | 2019-02-22 | 2023-02-22 | Marel Seattle Inc | Control of step-based systems |
CN110440963B (zh) * | 2019-08-02 | 2020-07-10 | 山东大学 | 一种惯性摩擦焊机能量转化效率检测系统及方法 |
KR102263740B1 (ko) | 2020-10-13 | 2021-06-10 | 이상철 | 드론 제어 시스템 |
CN112799296A (zh) * | 2021-01-04 | 2021-05-14 | 中钞长城金融设备控股有限公司 | 一种智能堆高机的控制系统及控制方法 |
CN113031439B (zh) * | 2021-03-01 | 2021-08-31 | 哈尔滨工业大学 | 一种双运动台精密协同控制系统及方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4535405A (en) * | 1982-09-29 | 1985-08-13 | Microbot, Inc. | Control and force-sensing method and apparatus for motors |
US9205556B1 (en) * | 2013-06-24 | 2015-12-08 | Redwood Robotics, Inc. | Cogging torque measurement for a robot actuator |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4769583A (en) | 1987-05-01 | 1988-09-06 | General Motors Corporation | Motion control system with minimum time path generation |
US5770829A (en) | 1997-06-09 | 1998-06-23 | Seiberco Incorporated | General purpose position control system having recursive profile generator |
US6363310B1 (en) * | 2000-03-23 | 2002-03-26 | Delphi Technologies, Inc. | Apparatus and method for vehicle speed control |
WO2007092466A2 (fr) | 2006-02-03 | 2007-08-16 | Bae Systems Land & Armaments L.P. | Techniques non linéaires de commande de moteur |
JP5146512B2 (ja) | 2010-10-13 | 2013-02-20 | オムロン株式会社 | 制御装置、制御システムおよび制御方法 |
US9060884B2 (en) * | 2011-05-03 | 2015-06-23 | Victhom Human Bionics Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US8585178B2 (en) * | 2011-11-30 | 2013-11-19 | Eastman Kodak Company | Carriage printer with adaptive motion control |
US9041337B2 (en) | 2012-05-18 | 2015-05-26 | Linestream Technologies | Motion profile generator |
EP2899422B1 (fr) * | 2012-09-19 | 2022-06-08 | Yamaha Hatsudoki Kabushiki Kaisha | Dispositif de commande de véhicule, véhicule et moteur |
KR101461888B1 (ko) * | 2013-02-28 | 2014-11-13 | 현대자동차 주식회사 | 하이브리드 차량의 정속 주행 제어 시스템 및 방법 |
-
2017
- 2017-04-26 KR KR1020187034057A patent/KR20190051896A/ko not_active Application Discontinuation
- 2017-04-26 US US16/091,265 patent/US10488842B2/en not_active Expired - Fee Related
- 2017-04-26 WO PCT/US2017/029715 patent/WO2017189774A1/fr active Application Filing
- 2017-04-26 JP JP2018556909A patent/JP2019530030A/ja active Pending
- 2017-04-26 EP EP17790380.4A patent/EP3449321A4/fr not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4535405A (en) * | 1982-09-29 | 1985-08-13 | Microbot, Inc. | Control and force-sensing method and apparatus for motors |
US9205556B1 (en) * | 2013-06-24 | 2015-12-08 | Redwood Robotics, Inc. | Cogging torque measurement for a robot actuator |
Non-Patent Citations (2)
Title |
---|
ATEF T. MASSOUD: "What Engineers and Customers Need from a Motion Control System - Tech Briefs", TECHBRIEFS.COM, 1 August 2015 (2015-08-01), XP055580353, Retrieved from the Internet <URL:https://www.techbriefs.com/component/content/article/tb/supplements/mcat/features/22668?start=1> [retrieved on 20190411] * |
See also references of WO2017189774A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20190129373A1 (en) | 2019-05-02 |
KR20190051896A (ko) | 2019-05-15 |
JP2019530030A (ja) | 2019-10-17 |
US10488842B2 (en) | 2019-11-26 |
EP3449321A1 (fr) | 2019-03-06 |
WO2017189774A1 (fr) | 2017-11-02 |
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Ipc: G05B 11/01 20060101AFI20190415BHEP Ipc: G05B 19/404 20060101ALI20190415BHEP Ipc: G05B 13/04 20060101ALI20190415BHEP Ipc: G05B 11/36 20060101ALI20190415BHEP Ipc: G05B 19/416 20060101ALI20190415BHEP Ipc: G05B 11/06 20060101ALI20190415BHEP Ipc: G05B 19/18 20060101ALI20190415BHEP Ipc: G05B 15/02 20060101ALI20190415BHEP |
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